RotateXDegrees.cpp

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#include "RotateXDegrees.h"
 
#include <SimoxUtility/math/convert/deg_to_rad.h>
 
namespace armarx::navigation::skills
{
 
    RotateXDegrees::RotateXDegrees(const Services& srv) : Base(srv, DefaultSkillDescription())
    {
    }
 
    Eigen::Isometry3f
    RotateXDegrees::relativeTarget(const Base::SpecializedMainInput& in)
    {
        const float rotation = simox::math::deg_to_rad(in.parameters.rotationDegrees);
        return Eigen::Isometry3f(Eigen::AngleAxisf(rotation, Eigen::Vector3f::UnitZ()));
    }
 
} // namespace armarx::navigation::skills